JP2949734B2 - Work machine attitude control device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work machine attitude control device in a farm work machine in which a work machine such as a rice transplanter or a seeder is mounted on a riding traveling vehicle body.

BACKGROUND ART Conventionally, Japanese Unexamined Patent Publication No. 56-51909 discloses a front-rear inclination changing mechanism for changing a front-rear inclination of a working machine mounted on a traveling vehicle body, and a detector for detecting a front-rear inclination of the working machine. There has been a rice transplanter configured to control the inclination of the working machine in the front-rear direction to be horizontal by a signal from the planter.

[Problems to be solved by the invention]

In the above-described conventional apparatus, when the traveling vehicle body is tilted back and forth due to unevenness in the field, the tilt of the working machine in the front-rear direction is controlled to be horizontal so that the variation in the planting depth is reduced. Due to the hardness of the soil, etc., the amount of subsidence of the traveling vehicle into the soil on the front wheel side relative to the amount of subsidence into the soil on the rear wheel side may become larger or smaller than the standard state, There is a case where the vehicle travels slightly backward or slightly downward. Then, the working machine is likely to lean forward or backward, and as a result, there is a problem that the planting depth is controlled to be shallower or to be controlled to be deeper.

[Means to solve the problem]

In order to solve the problems of the prior art, the present invention employs a front-rear inclination changing mechanism B that changes the front-rear inclination of the work machine 15 mounted on the traveling vehicle body 1 by detecting the front-rear inclination of the work machine 15. To control the inclination of the work machine 15 in the front-rear direction to fall within a predetermined inclination range by a signal from the detector 43 to perform the operation when the front-rear inclination change mechanism B starts operating by the front-rear inclination control. A work machine attitude control device is provided with means for adjusting the tilt angle of the machine 15.

[Functions and Effects of the Invention]

The posture control device of the working machine position according to the present invention includes a front and rear inclination changing mechanism B that changes the front and rear inclination of the working machine 15 mounted on the traveling vehicle body 1 even when the traveling vehicle body is inclined forward and backward due to unevenness of the field. Since the inclination of the work machine 15 in the front-rear direction is controlled to fall within a predetermined inclination range by a signal from the detector 43 for detecting the inclination of the machine 15 in the front-rear direction, the fluctuation of the working depth is reduced.

The tilt angle of the work machine 15 when the front-back tilt change mechanism B starts operating can be adjusted by the front-back tilt control. Therefore, when the work machine 15 is easily tilted forward due to the hardness of the soil or the like, or tilted backward. When it becomes easier, it can be adjusted so that the forward / backward tilt control can be performed accurately.

〔Example〕

1 is a riding type traveling vehicle body. The traveling vehicle body 1 includes a pair of left and right driving front wheels 2,2 for operation and a pair of left and right driving rear wheels 3,3.
The engine 5 is mounted on the upper part of the fuselage 4 equipped with the above, and a step 6 having a bulging portion for covering the engine 5 is stretched. A control frame 7a is erected on the upper front side and the control is performed on the upper part. A cockpit 8 is provided above the bulging portion of the handle 7.

Reference numeral 9 denotes an elevating link mechanism, which pivotally connects the upper link 11 and the lower link 12 and the rear ends of the two links to the rear end side of the machine body 4 by an elevating control hydraulic device 10 serving as an elevating operating mechanism A of the working machine. Made of vertical links 13 and so on.

And, between the vertical link 13 and the upper link 11, a front-rear inclination changing mechanism B for swinging the vertical link 13 in the front-rear direction.
The front-rear tilt control hydraulic device 14 is interposed.

Reference numeral 15 denotes a transplanter mounted on the vertical link 13 of the elevating link mechanism 9 via a rolling shaft 16 on the rear end side.

The transplanting machine 15 will be described in detail. A planting gear case 17 is provided with a main case portion 18 in which a left-right reciprocating mechanism and a speed change mechanism are provided at a front central portion, and the main case portion 18 is branched rearward so as to be a seedling transplanting device. And a sub-case part 19 for mounting 20.

Reference numeral 21 denotes a seedling mounting table, which is composed of left and right side walls (a) and a seedling receiving bottom plate (b). In the example shown in FIG. It is configured. Then, the seedling mounting table 21 is inclined in side view so that the front side is higher, and the lower end portion on the bottom side and the upper and lower middle portion are supported by the rail 22 and the support rod 23 supported from the gear box 17 side. And is connected via a horizontal operating shaft 25 to a horizontal reciprocating horizontal movement mechanism provided inside the planting gear case 17, and reciprocates left and right by the inner horizontal width of the seedling mounting table 21. It is configured to be moved.

 26 is a seedling vertical feeding device.

To explain the embodiment of the seedling transplanting device 20 in a little more detail, a rotating case 28 is mounted on a drive shaft 27 protruding to the side of the sub case portion 19, and a non-circular sun gear a that does not rotate in the rotating case 28. The same non-circular first planetary gear b meshing with this
And a second non-circular second planetary gear c meshing with the first planetary gear, and a transplanter mounting shaft 29 is mounted on the second planetary gear. Therefore, this implant mounting shaft 29
Is rotated in the direction opposite to the rotation direction of the transplantation rotating case 28, the number of rotations is the same as that of the transplantation rotation case 28, and the angular velocity of one rotation is changed by the transmission of each of the non-circular gears. Is configured. Therefore, the transplanting tool 30 attached to the transplanting tool mounting shaft 29 is rotated by the rotating case 28 and rotated with respect to the rotating case to split and transplant the seedlings placed on the seedling mounting table 21. It is configured to be able to.

Then, the drive shaft 27 of the seedling transplantation device 20 mounted on each rear end side of the sub case 19 divides the drive shaft 27 into right and left so that the left and right rotating cases 28, 28 can stop rotating particularly. The transmission is transmitted from the driving sprocket 31 via clutches 32 and 33, and the clutches 32 and 33 are configured so that the clutch pins 34a and 35a can be operated and disconnected by solenoids 34 and 35, respectively.

During the reciprocating operation of the seedling mounting table 21 left and right, a detector 36 is provided to detect when the seedling mounting table 21 operates at a specific position such as a lateral end, and the detector 36 detects the position. Except for the case, the solenoids 34 and 35 are configured not to be excited. Switch 36a as the detector 36
Is provided at a position outside the seedling table 21 from the support rod 23 via the arm 37, and is configured to be turned on when the side plate of the seedling table 21 contacts.

38, 39, ... are each clutch lever, and the solenoid
Are connected to switches 38a, 38b,.

Numeral 40 denotes a center float and numeral 41 denotes a side float, both of which are mounted on the gear case 17 so that the front part thereof can move up and down, and slide on the ground surface while leveling the seedling transplanting position. The center float 40 functions as a detector that detects the position of the ground surface that is linked to the hydraulic switching valve 42 of the elevation control hydraulic device 10 as the elevation operation mechanism. That is, when the front side of the float 40 deviates from a certain height range and is pushed upward, the switching valve 42
When the work machine is raised by switching so that 10a protrudes, and conversely, when the front side of the float 40 deviates from a certain height range and falls, the switching valve 42 is switched so that the piston 10a is retracted so that the work machine is lowered. It is composed. The means for attaching the hydraulic switching valve 42 will be described later.

Reference numeral 43 denotes a detector mounted on the work machine side for detecting the inclination of the work machine in the front-rear direction.
A pendulum 47 is provided on the pendulum 46, and switches 48a and 48b are mounted on supports 46 on both sides of the arm 47a of the pendulum in the rotating direction, so that the switch can be turned on and off by contact of the arm 47a.

Reference numeral 49 denotes an adjustment lever as a sensitivity adjuster. The lever 49 is provided on the side of the cockpit 8 of the traveling vehicle body 1 so as to be able to set a rotational position in the front and rear directions, and on a saw-tooth-shaped locking portion formed on the side surface of the guide groove 50. It is configured so that it can be locked and held.

Then, link the front part of the center float 40
A support frame 52 suspended and supported via 51 is rotated via a wire 53, and this wire 53 is connected to the adjustment lever 49.
Is linked to

By operating the adjustment lever 49 and rotating the support frame 52 upward, the neutral position of the switching valve 42 moves upward, and accordingly,
When the switching valve 42 is in the neutral position, the angle of the float 40 in the front-rear direction with respect to the ground surface is set to be small.
Therefore, the float 40 in this posture is in the state of contact with the ground, and the front portion is less likely to move upward, so that the sensitivity of the elevation control is made insensitive. Conversely, when the support frame 52 is rotated downward, the neutral position of the switching valve 42 moves downward, and therefore, the angle of the float 40 in the front-rear direction with respect to the ground surface when the switching valve 42 is in the neutral position is large. Will be set. Therefore, the float 40 in this posture is in the state of contact with the ground, and the front portion is easily moved upward, so that the sensitivity of the elevation control is made sensitive.

As shown in FIG. 4, the sensitivity adjusting lever 49 is also linked with a wire 44 for rotating a device 45 of a detector 43 for detecting the inclination of the mobile unit 15 attached to the working machine in the front-rear direction. The following adjustment mechanism is configured via the wire 44. Specifically, if the top and bottom surfaces of the paddy field are hard and the float 40 moves up and down frequently, the hunting state in which the transplanter 15 moves up and down without interruption occurs and the planting depth of the seedlings varies. However, this can be prevented by setting the sensitivity adjusting lever 49 at an appropriate position to make the sensitivity of the elevation control insensitive as described above. When the sensitivity adjusting lever 49 is operated in this manner, the wire 44 is also pulled up, so that the distance between the arm 47a of the pendulum 47 and the switch 48a is narrow, and conversely, the distance between the switch 48b is wide.
Therefore, the solenoid S1 is excited and the attitude control hydraulic device is turned on.
The switching valve 54 is difficult to switch in the direction in which the 14 pistons 14a are switched to protrude, and conversely, the switching is performed in the direction in which the solenoid S2 is excited and the piston 14a of the attitude control hydraulic device 14 is switched to retract. The valve 54 is easily switched, and the transplanter 15 is adjusted so that the operation is performed with the front-rear inclination controlled to the posture inclined forward and downward. That is, when transplanting seedlings on a hard paddy topsoil surface, if the sensitivity of the elevation control is switched insensitively so that the transplanter 15 does not hunt up and down, the angle of the float 40 in the front-rear direction with respect to the ground surface decreases, and the seedlings are planted. Although the planting depth tends to be deep, the transplanting machine 15 is adjusted so as to be tilted forward and backward so as to be tilted back and forth, so that the planting depth of the seedlings hardly fluctuates. On the other hand, when the surface of the paddy field is soft, the reverse operation is performed. That is, when the sensitivity of the lifting control is switched sensitively, the angle of the float 40 in the front-rear direction with respect to the ground surface increases, and the planting depth of the seedlings tends to be shallow, but the transplanter 15 is inclined forward. Since the front and rear inclinations are adjusted to the state, the planting depth of the seedlings hardly fluctuates.

As shown in FIG. 6, there is provided a sensitivity adjusting means configured to adjust the braking force of the back and forth rotation of the pendulum 47. The adjustment of the braking force of the back and forth rotation of the pendulum 47 is configured so that the tension of the spring 55 connected to the pendulum 47 can be adjusted by operating the wire through the wire 44a.
If the wire 44a is pulled simultaneously with the pulling of the wire 53 connected to the sensitivity adjustment lever 49, the sensitivity adjustment of the elevation control and the sensitivity adjustment of the forward / backward tilt control can be adjusted simultaneously.

Therefore, the posture control device of the working machine includes a front-back inclination changing mechanism B that changes the front-back inclination of the working machine 15 mounted on the traveling car body 1 even if the running body is tilted back and forth due to unevenness of the field. Since the inclination of the work machine 15 in the front-rear direction is controlled to fall within a predetermined inclination range by a signal from the detector 43 for detecting the inclination of the work 15 in the front-rear direction, the fluctuation of the working depth is reduced.

The tilt angle of the work machine 15 when the front-back tilt change mechanism B starts operating can be adjusted by the front-back tilt control. Therefore, when the work machine 15 is easily tilted forward due to the hardness of the soil or the like, or tilted backward. When it becomes easier, it can be adjusted so that the forward / backward tilt control can be performed accurately.

[Brief description of the drawings]

 Each drawing will be described briefly. Fig. 1: Side view of rice transplanter showing one embodiment of the invention Fig. 2: Plan view of rice transplanter of Fig. 1 Fig. 3: Plan sectional view showing concrete configuration of seedling transplanting device of rice transplanter Fig. 4 FIG. 5 is a side view showing a part of a detector for longitudinal tilt control. FIG. 5 is a hydraulic circuit diagram of longitudinal tilt control. FIG. 6 is a side view of a main part of the detector for longitudinal tilt control. Main symbols in the figure will be briefly described. 1: Traveling car body 15: Work equipment 43: Detector

Claims (1)

(57) [Claims] 1. A front-rear inclination changing mechanism B for changing a front-rear inclination of a work machine 15 mounted on a traveling vehicle body 1 is transmitted by a signal from a detector 43 for detecting the front-rear inclination of the work machine 15.
And a means for adjusting the inclination angle of the work machine 15 when the front-rear inclination changing mechanism B starts operating by the front-rear inclination control. An attitude control device for a working machine.